/**
 * @file types.i
 * @brief SWIG interface file for tesseract_planning/core/types.h
 *
 * @author John Wason
 * @date December 10, 2019
 * @version TODO
 * @bug No known bugs
 *
 * @copyright Copyright (c) 2019, Wason Technology, LLC
 *
 * @par License
 * Software License Agreement (Apache License)
 * @par
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * http://www.apache.org/licenses/LICENSE-2.0
 * @par
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

%{
#include <tesseract_motion_planners/core/types.h>
%}

%template(WaypointVector) std::vector<tesseract_motion_planners::Waypoint::Ptr>;

namespace tesseract_motion_planners
{
struct PlannerRequest
{
  std::string name;
  tesseract::Tesseract::ConstPtr tesseract;
  tesseract_environment::EnvState::ConstPtr start_state;
  std::string config;
  std::string config_format;
};

struct PlannerResponse
{
  tesseract_common::JointTrajectory joint_trajectory;
  tesseract_common::StatusCode status;
  std::vector<Waypoint::Ptr> succeeded_waypoints;
  std::vector<Waypoint::Ptr> failed_waypoints;
};
}  // namespace tesseract_motion_planners
